/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

#include "HIDO_Timer.h"
#include "AIR780EDriver.h"
#include "Uart.h"
#include "Internet.h"
#include "Module.h"
#include "GPS.h"
#include "HIDO_ATLite.h"
#include "UDPClient.h"
#include "global_param.h"
#include "SPIFlash.h"
#include "App.h"
#include "dw_driver.h"
#include "deca_device_api.h"
#include "dw_app.h"
#include "Lora.h"
#include "radio.h"
#include "DBG.h"
#include "WS2812.h"
#include "delay.h"
#include "Shell.h"
#include "lis3dh_driver.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc;

IWDG_HandleTypeDef hiwdg;

LPTIM_HandleTypeDef hlptim1;

RTC_HandleTypeDef hrtc;

SPI_HandleTypeDef hspi1;

TIM_HandleTypeDef htim3;

UART_HandleTypeDef huart1;
UART_HandleTypeDef huart2;
UART_HandleTypeDef huart5;
DMA_HandleTypeDef hdma_usart5_rx;

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_DMA_Init(void);
static void MX_RTC_Init(void);
static void MX_USART5_UART_Init(void);
static void MX_USART2_UART_Init(void);
static void MX_SPI1_Init(void);
static void MX_ADC_Init(void);
static void MX_LPTIM1_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_TIM3_Init(void);
static void MX_IWDG_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
uint8_t bat_percent;
uint16_t heart_time;
uint32_t dev_id;
uint16_t lastpoll_count,interval_count,slot_startcount,tag_frequency,lastpoll_time;
uint8_t group_id;
uint32_t uwbled,gpsled,loraled,powerled;
void MX_ADC1_Init()
{
    MX_ADC_Init();
}
void MX_ADC_DeInit(void)
{
    HAL_ADC_DeInit(&hadc);
    HAL_ADCEx_DisableVREFINT();
}
uint8_t nomove_flag;
uint16_t irq_num;
uint16_t nomove_count;
uint16_t debug1,debug2,debug3,debug4;
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
    if(GPIO_Pin == RADIO_DIO1_Pin)
    {
//        SystemClock_Config();
//        irq_num++;
//        RadioIrqProcess();
        debug1++;
    }
    if(GPIO_Pin == GPIO_PIN_9)
    {
        SystemClock_Config();
            MbxTagUwbRec();  
        debug2++;
    }
    if(GPIO_Pin == GPIO_PIN_13)
    {
debug3++;
    }
//    if(GPIO_Pin == GPIO_PIN_1)//°´¼ü
//    {
//         SystemClock_Config();
//      anjian_flag=1;
//    }
    if(GPIO_Pin == GPIO_PIN_0)//¼ÓËÙ¶È
    {
         SystemClock_Config();
        if(nomove_flag==1)
        {
        HAL_NVIC_SystemReset();
        }
      nomove_count = 0;
    }
}
uint8_t Close_RMC[100]="$CCMSG,RMC,1,0,*04\r\n$CCMSG,GSA,1,0,*0D\r\n$CCMSG,GSV,1,0,*1A\r\n$CCMSG,GLL,1,0,*1F\r\n$CCMSG,TXT,1,0,*00\r\n";
void GPS_Close_Init()
{
    HAL_UART_Transmit(&huart2,Close_RMC,100,3000);
    Delay_Ms(150);
}
uint8_t beep_state;
void Beep_On()
{
    HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
    beep_state=1;  
}
void Beep_Off()
{
    HAL_TIM_PWM_Stop(&htim3, TIM_CHANNEL_1);
    beep_state=0;  
}
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
//  MX_IWDG_Init();
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_RTC_Init();
  MX_USART5_UART_Init();
  MX_USART2_UART_Init();
  MX_SPI1_Init();
  MX_ADC_Init();
  MX_LPTIM1_Init();
  MX_USART1_UART_Init();
  MX_TIM3_Init();
  /* USER CODE BEGIN 2 */
//   __disable_irq();
  Uart_Register(UART_ID_DBG, &huart1);
  Uart_Register(UART_ID_4G, &huart5);
  Uart_Register(UART_ID_GPS, &huart2);
  
  SPI_Register(SPI_ID_FLASH, &hspi1);
  
  AIR780EDriver_PinRegister(AIR780E_PIN_3V8_EN, GPIOB, GPIO_PIN_10);
  AIR780EDriver_PinRegister(AIR780E_PIN_PWRKEY, GPIOB, GPIO_PIN_0);
  AIR780EDriver_PinRegister(AIR780E_PIN_RI, GPIOC, GPIO_PIN_13);
  GPS_PinRegister(GPS_PIN_REST, GPIOC, GPIO_PIN_4);
  SPIFlash_PinRegister(SPI_FLASH_ID_0, SPI_FLASH_PIN_CS, GPIOB, GPIO_PIN_5);
  
  SPIFlash_Init(SPI_FLASH_ID_0);
  DBG_Init();
  Shell_Init();
  Program_Init();
  GPS_Init();
  Internet_Init();
  UDPClient_Init();
  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET);//¿ªuwbµçÔ´
  Dw1000_Init();
  dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
//  dwt_entersleep();
  LIS3DH_Data_Init();	
  HAL_Delay(500);
//  LoraInit();
  if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, 0) != HAL_OK)  //system time is 1010ms   1 puls=30.518us
  {
     Error_Handler();
  } 
  Set4LEDColor(GREEN,GREEN,GREEN,GREEN);
  HAL_Delay(500);
  Set4LEDColor_Off();
  HAL_Delay(500);
  GPS_Close_Init();
  HAL_Delay(500);
  bat_percent=Get_Battary();
//  __enable_irq(); 
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
    Main_Poll();
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Configure LSE Drive Capability
  */
  HAL_PWR_EnableBkUpAccess();
  __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_LSI
                              |RCC_OSCILLATORTYPE_LSE;
  RCC_OscInitStruct.LSEState = RCC_LSE_ON;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.LSIState = RCC_LSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLLMUL_4;
  RCC_OscInitStruct.PLL.PLLDIV = RCC_PLLDIV_2;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
  {
    Error_Handler();
  }
  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1|RCC_PERIPHCLK_USART2
                              |RCC_PERIPHCLK_RTC|RCC_PERIPHCLK_LPTIM1;
  PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
  PeriphClkInit.Usart2ClockSelection = RCC_USART2CLKSOURCE_PCLK1;
  PeriphClkInit.RTCClockSelection = RCC_RTCCLKSOURCE_LSI;
  PeriphClkInit.LptimClockSelection = RCC_LPTIM1CLKSOURCE_LSE;

  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief ADC Initialization Function
  * @param None
  * @retval None
  */
static void MX_ADC_Init(void)
{

  /* USER CODE BEGIN ADC_Init 0 */

  /* USER CODE END ADC_Init 0 */

  ADC_ChannelConfTypeDef sConfig = {0};

  /* USER CODE BEGIN ADC_Init 1 */

  /* USER CODE END ADC_Init 1 */

  /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
  */
  hadc.Instance = ADC1;
  hadc.Init.OversamplingMode = DISABLE;
  hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
  hadc.Init.Resolution = ADC_RESOLUTION_12B;
  hadc.Init.SamplingTime = ADC_SAMPLETIME_160CYCLES_5;
  hadc.Init.ScanConvMode = ADC_SCAN_DIRECTION_FORWARD;
  hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
  hadc.Init.ContinuousConvMode = DISABLE;
  hadc.Init.DiscontinuousConvMode = DISABLE;
  hadc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
  hadc.Init.ExternalTrigConv = ADC_SOFTWARE_START;
  hadc.Init.DMAContinuousRequests = DISABLE;
  hadc.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
  hadc.Init.Overrun = ADC_OVR_DATA_PRESERVED;
  hadc.Init.LowPowerAutoWait = DISABLE;
  hadc.Init.LowPowerFrequencyMode = DISABLE;
  hadc.Init.LowPowerAutoPowerOff = DISABLE;
  if (HAL_ADC_Init(&hadc) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure for the selected ADC regular channel to be converted.
  */
  sConfig.Channel = ADC_CHANNEL_1;
  sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN ADC_Init 2 */

  /* USER CODE END ADC_Init 2 */

}

/**
  * @brief IWDG Initialization Function
  * @param None
  * @retval None
  */
static void MX_IWDG_Init(void)
{

  /* USER CODE BEGIN IWDG_Init 0 */

  /* USER CODE END IWDG_Init 0 */

  /* USER CODE BEGIN IWDG_Init 1 */

  /* USER CODE END IWDG_Init 1 */
  hiwdg.Instance = IWDG;
  hiwdg.Init.Prescaler = IWDG_PRESCALER_256;
  hiwdg.Init.Window = 4095;
  hiwdg.Init.Reload = 4095;
  if (HAL_IWDG_Init(&hiwdg) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN IWDG_Init 2 */

  /* USER CODE END IWDG_Init 2 */

}

/**
  * @brief LPTIM1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_LPTIM1_Init(void)
{

  /* USER CODE BEGIN LPTIM1_Init 0 */

  /* USER CODE END LPTIM1_Init 0 */

  /* USER CODE BEGIN LPTIM1_Init 1 */

  /* USER CODE END LPTIM1_Init 1 */
  hlptim1.Instance = LPTIM1;
  hlptim1.Init.Clock.Source = LPTIM_CLOCKSOURCE_APBCLOCK_LPOSC;
  hlptim1.Init.Clock.Prescaler = LPTIM_PRESCALER_DIV1;
  hlptim1.Init.Trigger.Source = LPTIM_TRIGSOURCE_SOFTWARE;
  hlptim1.Init.OutputPolarity = LPTIM_OUTPUTPOLARITY_HIGH;
  hlptim1.Init.UpdateMode = LPTIM_UPDATE_IMMEDIATE;
  hlptim1.Init.CounterSource = LPTIM_COUNTERSOURCE_INTERNAL;
  if (HAL_LPTIM_Init(&hlptim1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN LPTIM1_Init 2 */

  /* USER CODE END LPTIM1_Init 2 */

}

/**
  * @brief RTC Initialization Function
  * @param None
  * @retval None
  */
static void MX_RTC_Init(void)
{

  /* USER CODE BEGIN RTC_Init 0 */

  /* USER CODE END RTC_Init 0 */

  /* USER CODE BEGIN RTC_Init 1 */

  /* USER CODE END RTC_Init 1 */

  /** Initialize RTC Only
  */
  hrtc.Instance = RTC;
  hrtc.Init.HourFormat = RTC_HOURFORMAT_24;
  hrtc.Init.AsynchPrediv = 127;
  hrtc.Init.SynchPrediv = 255;
  hrtc.Init.OutPut = RTC_OUTPUT_DISABLE;
  hrtc.Init.OutPutRemap = RTC_OUTPUT_REMAP_NONE;
  hrtc.Init.OutPutPolarity = RTC_OUTPUT_POLARITY_HIGH;
  hrtc.Init.OutPutType = RTC_OUTPUT_TYPE_OPENDRAIN;
  if (HAL_RTC_Init(&hrtc) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN RTC_Init 2 */

  /* USER CODE END RTC_Init 2 */

}

/**
  * @brief SPI1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_SPI1_Init(void)
{

  /* USER CODE BEGIN SPI1_Init 0 */

  /* USER CODE END SPI1_Init 0 */

  /* USER CODE BEGIN SPI1_Init 1 */

  /* USER CODE END SPI1_Init 1 */
  /* SPI1 parameter configuration*/
  hspi1.Instance = SPI1;
  hspi1.Init.Mode = SPI_MODE_MASTER;
  hspi1.Init.Direction = SPI_DIRECTION_2LINES;
  hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
  hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
  hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
  hspi1.Init.NSS = SPI_NSS_SOFT;
  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;
  hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
  hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
  hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
  hspi1.Init.CRCPolynomial = 7;
  if (HAL_SPI_Init(&hspi1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN SPI1_Init 2 */

  /* USER CODE END SPI1_Init 2 */

}

/**
  * @brief TIM3 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM3_Init(void)
{

  /* USER CODE BEGIN TIM3_Init 0 */

  /* USER CODE END TIM3_Init 0 */

  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};

  /* USER CODE BEGIN TIM3_Init 1 */

  /* USER CODE END TIM3_Init 1 */
  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 32-1;
  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim3.Init.Period = 250-1;
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 125;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIMEx_RemapConfig(&htim3, TIM3_TI1_GPIO) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM3_Init 2 */

  /* USER CODE END TIM3_Init 2 */
  HAL_TIM_MspPostInit(&htim3);

}

/**
  * @brief USART1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_USART1_UART_Init(void)
{

  /* USER CODE BEGIN USART1_Init 0 */

  /* USER CODE END USART1_Init 0 */

  /* USER CODE BEGIN USART1_Init 1 */

  /* USER CODE END USART1_Init 1 */
  huart1.Instance = USART1;
  huart1.Init.BaudRate = 115200;
  huart1.Init.WordLength = UART_WORDLENGTH_8B;
  huart1.Init.StopBits = UART_STOPBITS_1;
  huart1.Init.Parity = UART_PARITY_NONE;
  huart1.Init.Mode = UART_MODE_TX_RX;
  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
  huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_UART_Init(&huart1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART1_Init 2 */

  /* USER CODE END USART1_Init 2 */

}

/**
  * @brief USART2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_USART2_UART_Init(void)
{

  /* USER CODE BEGIN USART2_Init 0 */

  /* USER CODE END USART2_Init 0 */

  /* USER CODE BEGIN USART2_Init 1 */

  /* USER CODE END USART2_Init 1 */
  huart2.Instance = USART2;
  huart2.Init.BaudRate = 9600;
  huart2.Init.WordLength = UART_WORDLENGTH_8B;
  huart2.Init.StopBits = UART_STOPBITS_1;
  huart2.Init.Parity = UART_PARITY_NONE;
  huart2.Init.Mode = UART_MODE_TX_RX;
  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart2.Init.OverSampling = UART_OVERSAMPLING_16;
  huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_UART_Init(&huart2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART2_Init 2 */

  /* USER CODE END USART2_Init 2 */

}

/**
  * @brief USART5 Initialization Function
  * @param None
  * @retval None
  */
static void MX_USART5_UART_Init(void)
{

  /* USER CODE BEGIN USART5_Init 0 */

  /* USER CODE END USART5_Init 0 */

  /* USER CODE BEGIN USART5_Init 1 */

  /* USER CODE END USART5_Init 1 */
  huart5.Instance = USART5;
  huart5.Init.BaudRate = 115200;
  huart5.Init.WordLength = UART_WORDLENGTH_8B;
  huart5.Init.StopBits = UART_STOPBITS_1;
  huart5.Init.Parity = UART_PARITY_NONE;
  huart5.Init.Mode = UART_MODE_TX_RX;
  huart5.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart5.Init.OverSampling = UART_OVERSAMPLING_16;
  huart5.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  huart5.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_UART_Init(&huart5) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART5_Init 2 */

  /* USER CODE END USART5_Init 2 */

}

/**
  * Enable DMA controller clock
  */
static void MX_DMA_Init(void)
{

  /* DMA controller clock enable */
  __HAL_RCC_DMA1_CLK_ENABLE();

  /* DMA interrupt init */
  /* DMA1_Channel2_3_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA1_Channel2_3_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(DMA1_Channel2_3_IRQn);

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();
  __HAL_RCC_GPIOD_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOC, RADIO_NSS_Pin|RADIO_nRESET_Pin, GPIO_PIN_SET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4|GPIO_PIN_11, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_4, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0|GPIO_PIN_10|GPIO_PIN_7, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, SCL_Pin|SDA_Pin|GPIO_PIN_15|GPIO_PIN_5
                          |GPIO_PIN_6, GPIO_PIN_SET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8|GPIO_PIN_12, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_RESET);
  /*Configure GPIO pins : PC13 PC9 RADIO_DIO1_Pin */
  GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_9|RADIO_DIO1_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

  /*Configure GPIO pins : RADIO_NSS_Pin RADIO_nRESET_Pin PC4 */
  GPIO_InitStruct.Pin = RADIO_NSS_Pin|RADIO_nRESET_Pin|GPIO_PIN_4;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

  /*Configure GPIO pin : PA0 */
  GPIO_InitStruct.Pin = GPIO_PIN_0;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pins : PA4 PA8 PA11 PA12
                           PA15 */
  GPIO_InitStruct.Pin = GPIO_PIN_4;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  GPIO_InitStruct.Pin = GPIO_PIN_8;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
  
    GPIO_InitStruct.Pin = GPIO_PIN_11;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
  
    GPIO_InitStruct.Pin = GPIO_PIN_12;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
  
    GPIO_InitStruct.Pin = GPIO_PIN_15;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
  /*Configure GPIO pins : PB0 PB10 PB15 PB5
                           PB6 PB7 */
  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_10|GPIO_PIN_15|GPIO_PIN_5
                          |GPIO_PIN_6|GPIO_PIN_7;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pin : PB1 */
  GPIO_InitStruct.Pin = GPIO_PIN_1;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pins : SCL_Pin SDA_Pin */
  GPIO_InitStruct.Pin = SCL_Pin|SDA_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pin : RADIO_BUSY_Pin */
  GPIO_InitStruct.Pin = RADIO_BUSY_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(RADIO_BUSY_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : INPUT_5V_Pin */
  GPIO_InitStruct.Pin = INPUT_5V_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(INPUT_5V_GPIO_Port, &GPIO_InitStruct);

  /* EXTI interrupt init*/
  HAL_NVIC_SetPriority(EXTI0_1_IRQn, 2, 0);
  HAL_NVIC_EnableIRQ(EXTI0_1_IRQn);

  HAL_NVIC_SetPriority(EXTI4_15_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);

/* USER CODE BEGIN MX_GPIO_Init_2 */
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_SET);
/* USER CODE END MX_GPIO_Init_2 */
}

/* USER CODE BEGIN 4 */
extern uint8_t imu_enable;
uint8_t bat_time;
uint16_t fangchai_time;
extern uint8_t fangchai_flag;
extern uint8_t fangchai_state;
uint8_t yundong_state;
uint16_t yundong_time;
uint8_t gpslednum;
#define BAT_TIME 100
#define DIANLIANG 15
uint8_t air780_state;
extern uint8_t chongman_flag;
uint8_t jinru_parsegga_flag;
uint8_t input_5v_flag;
uint8_t num;
uint16_t sleep_time;
uint16_t chongdian_yundong_time;
uint16_t chongdianmeiyouuwb_time;
void Bat_Percent_Poll()
{
    bat_time++;
    if(bat_time>BAT_TIME)
    {
        bat_time=0;
    bat_percent=Get_Battary();
    }
}
void Powerled_Poll()
{
    if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
    {input_5v_flag=0;
        if(bat_percent>DIANLIANG)
        {
             powerled = RED;
        }
        else
        {
             powerled = RED;
        }
    }
    else
    {
    input_5v_flag=1;
    }
}
void Fangchai_Panduan_Poll()
{
    if(HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_1)) // É豸±»²ðж
    { fangchai_flag=1;}
    else
    { fangchai_flag=0;}
    if(fangchai_flag)
    {
        fangchai_time++;
//        if(fangchai_time%2==1&&fangchai_state==0)
//        Beep_On();
//        else
//        Beep_Off();   
//        if(fangchai_state==1||fangchai_state==2)
//        Beep_Off();   
    }
    else
    {
        if(fangchai_state==2)
        {
          HAL_NVIC_SystemReset();
        }
        fangchai_state=0;
        fangchai_time=0;  
//        Beep_Off();        
    }
}
void Yundong_Panduan_Poll()
{
    if(yundong_state>0)
    {
        yundong_time++;
    }
    else
    {
        yundong_time=0;
    }
}
void Sleep_Panduan_Poll()
{
    if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
    {
        nomove_flag=1;
    }
    else
    {
        nomove_flag=0;
    }
    if(nomove_flag)
    {sleep_time++;}
    else
    {sleep_time=0;}
}
void Gps_Chongqi_Poll()
{
    if(nomove_flag==0&&!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&fangchai_state==0&&air780_state==0)
    {
        if(jinru_parsegga_flag==0)
        {
            gpslednum++;
            if(gpslednum>5)
            {HAL_NVIC_SystemReset();}
        }
        else
        {
            gpslednum=0;
        }
    }
}
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
    SystemClock_Config();
    Gps_Chongqi_Poll();
    Powerled_Poll();
    chongdianmeiyouuwb_time++;
    if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&chongman_flag==0)
    {
        num++;
        if(num>2)
        {
        num=0;    
        powerled=LEDOFF;
        loraled=LEDOFF;
        gpsled=LEDOFF;
        uwbled=LEDOFF;
        Set4LEDColor_Off();
        }
        else
        {
        Set4LEDColor(powerled,loraled,gpsled,uwbled);
        }
    }
    else
    {
        Set4LEDColor(powerled,loraled,gpsled,uwbled);
    }
    Fangchai_Panduan_Poll();
    Yundong_Panduan_Poll();
    heart_time++;
    nomove_count++;
    Sleep_Panduan_Poll();
    Bat_Percent_Poll();
    chongdian_yundong_time++;
//    if(!chongman_flag)
//    {
//    powerled=LEDOFF;
//    loraled=LEDOFF;
//    gpsled=LEDOFF;
//    uwbled=LEDOFF;
//    Set4LEDColor_Off();
//    }
//    if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&chongman_flag==0)
//    {
//    }
//    else
//    {
//        if(chongman_flag)
//        {}
//        else
//        {
//        powerled=LEDOFF;
//        loraled=LEDOFF;
//        gpsled=LEDOFF;
//        uwbled=LEDOFF;
//        Set4LEDColor_Off();
//        }
//    }
}
/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */